AI in Robotics and Embedded

Systems
Md. Khalilur Rhaman
Doctor of Information Engineering
Associate Professor,
SECS, BRAC University
 What is our ultimate goal?
• Robotics • Super Human (Ironman)
• Embedded System • Intelligent Machine
 Why Super Human?
• Limitation of: • Overcome by:
– Perfect Sensing – Electric Sensors
– Numerical Processing – Computer
– Muscle Power – Motor, Actuator, Engine
– Language Barrier and Engineering
– Limited frequency vision – NLP
and listening ability – IR, Sonar, RF
 Why Intelligent Machines?
• Energy Saving
• Accuracy
• Convenience
• Efficiency
• Adaptability in
Dynamic
Environment
• Perform Dull,
Dirty, difficult and
Dangerous Job
 Do Things that Living Things Can’t

• Fukushima
• World Trade
center
• RANA
Complex
• Tajrin
fashion
Dull, Dirty, difficult and Dangerous
Dull, Dirty, difficult and Dangerous
Dull, Dirty, difficult and Dangerous
Dull, Dirty, difficult and Dangerous
Dull, Dirty, difficult and Dangerous
 Law of Robotics
1. A robot must not harm human being, nor
through in action allow one to come to harm.
2. A robot must always obey human beings,
unless that is in conflict with the first law.
3. A robot must protect from harm, unless that
is in conflict with the first two laws.
4. A robot always should have a kill switch.
 Thumb Rules on the decision of a
Robot Uses
• The first rule to consider, what is known as the Four D of
Robotics, i.e. is the task dirty, dull, dangerous, or difficult? If
so, a human will probably not be able to do the job
efficiently. Therefore, the job is appropriate for automation
or for robotic labour.
• The second rule is that a robot may not leave a human
jobless. Robotics and automation must serve to make our
lives more enjoyable, not miserable.
• A third rule involves asking whether you can find people
who are willing to do the job. If not, the job is a candidate
for automation and Robotics.
• A four rule of thumb is that the use of robots or automation
must make short-term and long-term economic sense.
 Types of Robot
• Industrial
• Non-industrial or special purpose
– Automatic Guided Vehicle
– Walking Robot
– Parallel Robot
Mars Curiosity
Most Famous Humanoid
Table tennis playing Robot
Japanese Robot with Expression
Automatic Guided Vehicle
Big dog by DHARPA
Global Hawk
Walking and Wall Climbing
Parallel Robot Flight Simulator
Parallel Robot Milling Maching
Simulation
3D Printer
 All Have 5 Common Components
• Mobility: legs, arms, neck, wrists
– Platform, also called “effectors”
• Perception: eyes, ears, nose, smell, touch
– Sensors and sensing
• Control: central nervous system
– Inner loop and outer loop; layers of the brain
• Power: food and digestive system
• Communications: voice, gestures, hearing
– How does it communicate (I/O, wireless, expressions)

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Robot Subsystem

• Sense
• Plan
• Act
 Subsystems
Motion Recognition Control

Manipulator Sensors Digital Controller

End Effectors ADC DAC

Actuator Amplifier

Transmission
•Belt and Chain
•Gears
•Link Mechanism
 Motion
Manipulator
 Motion
End-effector
 Motion
End-effector
 Motion
Transmission (Belt and chain)
 Motion
Transmission (Gears)
 Motion
Transmission (Link Mechanism)
DC, Stepper, Servo, Motion
Induction Motor
 Motion
Actuators

Pneumatic Actuator

Hydraulic Actuator

Electric Actuator
AGV with Multi Directional Wheel
LEGO: MINDSTROM
 Subsystems
Motion Recognition Control

Manipulator Sensors Digital Controller

End Effectors ADC DAC

Actuator Amplifier

Transmission
•Belt and Chain
•Gears
•Link Mechanism
 Recognition
Sensors
 Sensor Examples Recognition

Physical Property Sensor

contact switch
distance ultrasound, radar, infrared
light level photocells, cameras
sound level microphone
rotation encoders and potentiometers
acceleration accelerometers gyroscopes

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 More Sensor Examples Recognition

Physical Property Sensor

magnetism compass
smell chemical
temperature thermal, infra red
inclination inclinometers, gyroscopes
pressure pressure gauges
altitude altimeters
strain strain gauges

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 Recognition
Passive Sensor
 Recognition
Active Sensors
 Recognition
Laser Scanner
 Subsystems
Motion Recognition Control

Manipulator Sensors Digital Controller

End Effectors ADC DAC

Actuator Amplifier

Transmission
•Belt and Chain
•Gears
•Link Mechanism
Control
• Combination of
Electrical circuits and
programming
– Calibrated Sensing
– Motor Control
– Interfacing
– Communication
– Localization
– Decision Logic
Micro controller
Arduino, Google ADK, Raspberry pi
Micro Processor
Acting humanly: Turing Test
 7 Major Areas of AI
1. Knowledge representation
• how should the robot represent itself, its task, and the world
2. Understanding natural language
3. Learning
4. Planning and problem solving
• Mission, task, path planning
5. Inference
• Generating an answer when there isn’t complete information
6. Search
• Finding answers in a knowledge base, finding objects in the world
7. Vision

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 Far behind
• Still need translator for human conversation
• Fukushima Daiichi nuclear disaster
• Shaver tragedy
• Human for Mining
• No online Doctor
• No gossiping tools
Emotiv Electroencephalography (EEG)
Headset
Emotiv EPOC EEG Headset
3D Printer
LEAP Motion Sensor
MYO
Does Bangladesh can Build a
Robot?
International Success of Bangladeshi
Robots
 My on going Researches
• Automatic Weather Station.
• Soil testing and analysis for harvesting.
• Self Balance Bike.
• Smart fire fighting device.
• Underwater mapping and water-boat control.
• Hexa-Copter.
• Vending Machine and smart payment by smart Mobile.
• Computer interfaced CNC.
• Shadow function Robotic arm (used in Real Steel).
• Solar Car (Collaboration with Dr. Mosaddequr Rahman)
• Rescue Robot Car (Collaboration with Dr. Belal Bhuyan)
Let us Discuss Together for few
Minutes